/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must disabled before invoking this function.
* @post The main thread is created with priority @p NORMALPRIO and
* interrupts are enabled.
*
* @special
*/
void chSysInit(void) {
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
extern stkalign_t __main_thread_stack_base__;
#endif
port_init();
_scheduler_init();
_vt_init();
#if CH_CFG_USE_TM == TRUE
_tm_init();
#endif
#if CH_CFG_USE_MEMCORE == TRUE
_core_init();
#endif
#if CH_CFG_USE_HEAP == TRUE
_heap_init();
#endif
#if CH_DBG_STATISTICS == TRUE
_stats_init();
#endif
#if CH_DBG_ENABLE_TRACE == TRUE
_dbg_trace_init();
#endif
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
#else
/* Now this instructions flow becomes the idle thread.*/
setcurrp(_thread_init(&ch.mainthread, IDLEPRIO));
#endif
currp->p_state = CH_STATE_CURRENT;
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
/* This is a special case because the main thread thread_t structure is not
adjacent to its stack area.*/
currp->p_stklimit = &__main_thread_stack_base__;
#endif
chSysEnable();
/* Note, &ch_debug points to the string "main" if the registry is
active, else the parameter is ignored.*/
chRegSetThreadName((const char *)&ch_debug);
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
(void) chThdCreateStatic(ch.idle_thread_wa, sizeof(ch.idle_thread_wa),
IDLEPRIO, (tfunc_t)_idle_thread, NULL);
#endif
}
/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must be still disabled when @p chSysInit() is invoked
* and are internally enabled.
* @post The main thread is created with priority @p NORMALPRIO.
* @note This function has special, architecture-dependent, requirements,
* see the notes into the various port reference manuals.
*
* @special
*/
void chSysInit(void) {
static Thread mainthread;
port_init();
scheduler_init();
vt_init();
#if CH_USE_MEMCORE
core_init();
#endif
#if CH_USE_HEAP
heap_init();
#endif
#if CH_DBG_ENABLE_TRACE
trace_init();
#endif
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&mainthread, NORMALPRIO));
currp->p_state = THD_STATE_CURRENT;
chSysEnable();
#if !CH_NO_IDLE_THREAD
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
(tfunc_t)_idle_thread, NULL);
#endif
}
/**
* @brief Switches to the first thread on the runnable queue.
* @details The current thread is positioned in the ready list ahead of all
* threads having the same priority.
* @note Not a user function, it is meant to be invoked by the scheduler
* itself or from within the port layer.
*
* @special
*/
void chSchDoRescheduleAhead(void) {
thread_t *otp, *cp;
otp = currp;
/* Picks the first thread from the ready queue and makes it current.*/
setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
#if defined(CH_CFG_IDLE_LEAVE_HOOK)
if (otp->p_prio == IDLEPRIO) {
CH_CFG_IDLE_LEAVE_HOOK();
}
#endif
currp->p_state = CH_STATE_CURRENT;
otp->p_state = CH_STATE_READY;
cp = (thread_t *)&ch.rlist.r_queue;
do {
cp = cp->p_next;
} while (cp->p_prio > otp->p_prio);
/* Insertion on p_prev.*/
otp->p_next = cp;
otp->p_prev = cp->p_prev;
otp->p_prev->p_next = cp->p_prev = otp;
chSysSwitch(currp, otp);
}
/**
* @brief Wakes up a thread.
* @details The thread is inserted into the ready list or immediately made
* running depending on its relative priority compared to the current
* thread.
* @pre The thread must not be already inserted in any list through its
* @p p_next and @p p_prev or list corruption would occur.
* @note It is equivalent to a @p chSchReadyI() followed by a
* @p chSchRescheduleS() but much more efficient.
* @note The function assumes that the current thread has the highest
* priority.
*
* @param[in] ntp the thread to be made ready
* @param[in] msg the wakeup message
*
* @sclass
*/
void chSchWakeupS(thread_t *ntp, msg_t msg) {
chDbgCheckClassS();
/* Storing the message to be retrieved by the target thread when it will
restart execution.*/
ntp->p_u.rdymsg = msg;
/* If the waken thread has a not-greater priority than the current
one then it is just inserted in the ready list else it made
running immediately and the invoking thread goes in the ready
list instead.*/
if (ntp->p_prio <= currp->p_prio) {
chSchReadyI(ntp);
}
else {
thread_t *otp = chSchReadyI(currp);
setcurrp(ntp);
#if defined(CH_CFG_IDLE_LEAVE_HOOK)
if (otp->p_prio == IDLEPRIO) {
CH_CFG_IDLE_LEAVE_HOOK();
}
#endif
ntp->p_state = CH_STATE_CURRENT;
chSysSwitch(ntp, otp);
}
}
void chSchDoRescheduleBehind(void) {
Thread *otp;
otp = currp;
/* Picks the first thread from the ready queue and makes it current.*/
setcurrp(fifo_remove(&rlist.r_queue));
currp->p_state = THD_STATE_CURRENT;
otp->p_preempt = CH_TIME_QUANTUM;
chSchReadyI(otp);
chSysSwitch(currp, otp);
}
void chSchGoSleepS(tstate_t newstate) {
Thread *otp;
(otp = currp)->p_state = newstate;
#if CH_TIME_QUANTUM > 0
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
setcurrp(fifo_remove(&rlist.r_queue));
currp->p_state = THD_STATE_CURRENT;
chDbgTrace(otp);
chSysSwitchI(currp, otp);
}
void chSchGoSleepS(tstate_t newstate) {
Thread *otp;
chDbgCheckClassS();
(otp = currp)->p_state = newstate;
#if CH_TIME_QUANTUM > 0
/* The thread is renouncing its remaining time slices so it will have a new
time quantum when it will wakeup.*/
otp->p_preempt = CH_TIME_QUANTUM;
#endif
setcurrp(fifo_remove(&rlist.r_queue));
currp->p_state = THD_STATE_CURRENT;
chSysSwitch(currp, otp);
}
void chSchWakeupS(Thread *ntp, msg_t msg) {
chDbgCheckClassS();
ntp->p_u.rdymsg = msg;
/* If the waken thread has a not-greater priority than the current
one then it is just inserted in the ready list else it made
running immediately and the invoking thread goes in the ready
list instead.*/
if (ntp->p_prio <= currp->p_prio)
chSchReadyI(ntp);
else {
Thread *otp = chSchReadyI(currp);
setcurrp(ntp);
ntp->p_state = THD_STATE_CURRENT;
chSysSwitch(ntp, otp);
}
}
/**
* @brief Switches to the first thread on the runnable queue.
* @details The current thread is positioned in the ready list behind all
* threads having the same priority. The thread regains its time
* quantum.
* @note Not a user function, it is meant to be invoked by the scheduler
* itself or from within the port layer.
*
* @special
*/
void chSchDoRescheduleBehind(void) {
thread_t *otp;
otp = currp;
/* Picks the first thread from the ready queue and makes it current.*/
setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
#if defined(CH_CFG_IDLE_LEAVE_HOOK)
if (otp->p_prio == IDLEPRIO) {
CH_CFG_IDLE_LEAVE_HOOK();
}
#endif
currp->p_state = CH_STATE_CURRENT;
#if CH_CFG_TIME_QUANTUM > 0
otp->p_preempt = CH_CFG_TIME_QUANTUM;
#endif
chSchReadyI(otp);
chSysSwitch(currp, otp);
}
void chSchDoRescheduleAhead(void) {
Thread *otp, *cp;
otp = currp;
/* Picks the first thread from the ready queue and makes it current.*/
setcurrp(fifo_remove(&rlist.r_queue));
currp->p_state = THD_STATE_CURRENT;
otp->p_state = THD_STATE_READY;
cp = (Thread *)&rlist.r_queue;
do {
cp = cp->p_next;
} while (cp->p_prio > otp->p_prio);
/* Insertion on p_prev.*/
otp->p_next = cp;
otp->p_prev = cp->p_prev;
otp->p_prev->p_next = cp->p_prev = otp;
chSysSwitch(currp, otp);
}
void chSchWakeupS(Thread *ntp, msg_t msg) {
ntp->p_u.rdymsg = msg;
/* If the waken thread has a not-greater priority than the current
one then it is just inserted in the ready list else it made
running immediately and the invoking thread goes in the ready
list instead.*/
if (ntp->p_prio <= currp->p_prio)
chSchReadyI(ntp);
else {
Thread *otp = chSchReadyI(currp);
#if CH_TIME_QUANTUM > 0
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
setcurrp(ntp);
ntp->p_state = THD_STATE_CURRENT;
chDbgTrace(otp);
chSysSwitchI(ntp, otp);
}
}
/**
* @brief Puts the current thread to sleep into the specified state.
* @details The thread goes into a sleeping state. The possible
* @ref thread_states are defined into @p threads.h.
*
* @param[in] newstate the new thread state
*
* @sclass
*/
void chSchGoSleepS(tstate_t newstate) {
thread_t *otp;
chDbgCheckClassS();
(otp = currp)->p_state = newstate;
#if CH_CFG_TIME_QUANTUM > 0
/* The thread is renouncing its remaining time slices so it will have a new
time quantum when it will wakeup.*/
otp->p_preempt = CH_CFG_TIME_QUANTUM;
#endif
setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
#if defined(CH_CFG_IDLE_ENTER_HOOK)
if (currp->p_prio == IDLEPRIO) {
CH_CFG_IDLE_ENTER_HOOK();
}
#endif
currp->p_state = CH_STATE_CURRENT;
chSysSwitch(currp, otp);
}
/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must be still disabled when @p chSysInit() is invoked
* and are internally enabled.
* @post The main thread is created with priority @p NORMALPRIO.
* @note This function has special, architecture-dependent, requirements,
* see the notes into the various port reference manuals.
*
* @special
*/
void chSysInit(void) {
static Thread mainthread;
#if CH_DBG_ENABLE_STACK_CHECK
extern stkalign_t __main_thread_stack_base__;
#endif
port_init();
_scheduler_init();
_vt_init();
#if CH_USE_MEMCORE
_core_init();
#endif
#if CH_USE_HEAP
_heap_init();
#endif
#if CH_DBG_ENABLE_TRACE
_trace_init();
#endif
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&mainthread, NORMALPRIO));
currp->p_state = THD_STATE_CURRENT;
#if CH_DBG_ENABLE_STACK_CHECK
/* This is a special case because the main thread Thread structure is not
adjacent to its stack area.*/
currp->p_stklimit = &__main_thread_stack_base__;
#endif
chSysEnable();
chRegSetThreadName("main");
#if !CH_NO_IDLE_THREAD
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
(tfunc_t)_idle_thread, NULL);
#endif
}
